A self-propelled intelligent pipeline 3D imaging and measuring device and its measuring method

Abstract

This application discloses a self-propelled intelligent pipeline 3D imaging and measuring device, a self-propelled mechanism is used to walk in the pipe wall by itself, and the self-propelled mechanism forms self-propelled information; a rotating measurement mechanism is set on the self-propelled mechanism, including a rotating Mechanism, distance measuring sensor and image capture device, the distance measurement sensor and image capture device are arranged on the rotating mechanism, the distance measurement sensor is used to measure the radial information of the pipe wall, and the image capture device is used to measure Axial information of the pipe wall; and a processor, coupled to the self-propelled mechanism and the rotating measuring mechanism, for forming the The 3D image of the pipe wall; the self-propelled intelligent pipeline 3D imaging and measuring device can perform 3D image measurement on the pipe wall during the process of advancing or retreating by itself, forming a clear, complete and non-destructive 3D image of the pipe wall, which is convenient for pipes Wall quality or poor analysis.

Description

technical field [0001] The present application belongs to the measurement field, and in particular relates to a self-propelled intelligent pipeline 3D imaging and measurement device and a measurement method thereof. Background technique [0002] With the wide application of pipelines, more and more attention is paid to the measurement of pipelines, and the measurement of the inner wall of the pipeline is of great significance for the quality or failure analysis of the pipeline wall. The existing measurement of the inner wall of the pipeline is generally carried out by means of laser scanning or directly using a 2D or 3D camera for shooting, but these methods cannot effectively form a real 3D image, and the inner wall of the pipeline obtained is generally relatively rough, which is difficult for high Precise analysis is far from enough, and it is impossible to detect subtle defects. In addition, there are uneven defects on the inner wall of the pipeline, which makes the measu...

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Problems solved by technology

The existing measurement of the inner wall of the pipeline is generally carried out by means of laser scanning or directly using a 2D or 3D camera for shooting, but these methods cannot effectively form a real 3D image, and the inner wall of the pipeline obtained is generally relatively rough, which is difficult for high Precise analysis is far from enough, and it is impossible to detect subtle defects. In addition, there are uneven defects on the inner wall of the pipeline, which makes the measuring device bump in the process of walking, resulting in unrealistic measurement

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